别人克隆后没有 install，source 会直接失败。把展开后的 install 放进仓库，符号链接和指向本机 build 的 egg-link 收成真实文件，Python 入口改走当前环境的解释器，这样不用先 colcon build 也能启动。
Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
arm_dev
+33
@@ -0,0 +1,33 @@
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#!/usr/bin/env python3
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# EASY-INSTALL-ENTRY-SCRIPT: 'flexiv-test-nodes','console_scripts','publisher_joint_trajectory_controller'
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import re
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import sys
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# for compatibility with easy_install; see #2198
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__requires__ = 'flexiv-test-nodes'
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try:
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from importlib.metadata import distribution
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except ImportError:
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try:
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from importlib_metadata import distribution
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except ImportError:
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from pkg_resources import load_entry_point
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def importlib_load_entry_point(spec, group, name):
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dist_name, _, _ = spec.partition('==')
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matches = (
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entry_point
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for entry_point in distribution(dist_name).entry_points
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if entry_point.group == group and entry_point.name == name
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)
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return next(matches).load()
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globals().setdefault('load_entry_point', importlib_load_entry_point)
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if __name__ == '__main__':
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sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
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sys.exit(load_entry_point('flexiv-test-nodes', 'console_scripts', 'publisher_joint_trajectory_controller')())
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@@ -0,0 +1,33 @@
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#!/usr/bin/env python3
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# EASY-INSTALL-ENTRY-SCRIPT: 'flexiv-test-nodes','console_scripts','robot_states_monitor'
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import re
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import sys
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# for compatibility with easy_install; see #2198
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__requires__ = 'flexiv-test-nodes'
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try:
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from importlib.metadata import distribution
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except ImportError:
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try:
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from importlib_metadata import distribution
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except ImportError:
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from pkg_resources import load_entry_point
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def importlib_load_entry_point(spec, group, name):
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dist_name, _, _ = spec.partition('==')
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matches = (
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entry_point
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for entry_point in distribution(dist_name).entry_points
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if entry_point.group == group and entry_point.name == name
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)
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return next(matches).load()
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globals().setdefault('load_entry_point', importlib_load_entry_point)
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if __name__ == '__main__':
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sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
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sys.exit(load_entry_point('flexiv-test-nodes', 'console_scripts', 'robot_states_monitor')())
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@@ -0,0 +1,33 @@
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#!/usr/bin/env python3
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# EASY-INSTALL-ENTRY-SCRIPT: 'flexiv-test-nodes','console_scripts','robot_states_publisher'
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import re
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import sys
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# for compatibility with easy_install; see #2198
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__requires__ = 'flexiv-test-nodes'
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try:
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from importlib.metadata import distribution
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except ImportError:
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try:
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from importlib_metadata import distribution
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except ImportError:
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from pkg_resources import load_entry_point
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def importlib_load_entry_point(spec, group, name):
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dist_name, _, _ = spec.partition('==')
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matches = (
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entry_point
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for entry_point in distribution(dist_name).entry_points
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if entry_point.group == group and entry_point.name == name
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)
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return next(matches).load()
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globals().setdefault('load_entry_point', importlib_load_entry_point)
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if __name__ == '__main__':
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sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
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sys.exit(load_entry_point('flexiv-test-nodes', 'console_scripts', 'robot_states_publisher')())
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+27
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Metadata-Version: 2.4
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Name: flexiv_test_nodes
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Version: 0.0.1
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Summary: Demo nodes for testing flexiv_ros2.
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Author: Mun Seng Phoon
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Author-email: munseng.phoon@flexiv.com
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Maintainer: Mun Seng Phoon
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Maintainer-email: munseng.phoon@flexiv.com
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License: Apache License, Version 2.0
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Keywords: ROS
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Classifier: Intended Audience :: Developers
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Classifier: License :: OSI Approved :: Apache Software License
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Classifier: Programming Language :: Python
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Classifier: Topic :: Software Development
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Requires-Dist: setuptools
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Dynamic: author
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Dynamic: author-email
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Dynamic: classifier
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Dynamic: description
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Dynamic: keywords
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Dynamic: license
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Dynamic: maintainer
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Dynamic: maintainer-email
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Dynamic: requires-dist
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Dynamic: summary
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Demo nodes for for testing flexiv_ros2.
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+16
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package.xml
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setup.cfg
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setup.py
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flexiv_test_nodes/__init__.py
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flexiv_test_nodes/publisher_joint_trajectory_controller.py
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flexiv_test_nodes/robot_states_monitor.py
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flexiv_test_nodes/robot_states_publisher.py
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flexiv_test_nodes.egg-info/PKG-INFO
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flexiv_test_nodes.egg-info/SOURCES.txt
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flexiv_test_nodes.egg-info/dependency_links.txt
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flexiv_test_nodes.egg-info/entry_points.txt
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flexiv_test_nodes.egg-info/requires.txt
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flexiv_test_nodes.egg-info/top_level.txt
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flexiv_test_nodes.egg-info/zip-safe
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launch/robot_states_publisher.launch.py
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resource/flexiv_test_nodes
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+1
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+4
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[console_scripts]
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publisher_joint_trajectory_controller = flexiv_test_nodes.publisher_joint_trajectory_controller:main
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robot_states_monitor = flexiv_test_nodes.robot_states_monitor:main
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robot_states_publisher = flexiv_test_nodes.robot_states_publisher:main
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+1
@@ -0,0 +1 @@
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setuptools
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+1
@@ -0,0 +1 @@
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flexiv_test_nodes
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+1
@@ -0,0 +1 @@
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+148
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# Copyright 2022 Stogl Robotics Consulting UG (haftungsbeschränkt)
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import rclpy
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from builtin_interfaces.msg import Duration
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from rclpy.node import Node
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from sensor_msgs.msg import JointState
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from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
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from rcl_interfaces.msg import ParameterDescriptor
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class PublisherJointTrajectory(Node):
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def __init__(self):
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super().__init__("publisher_position_trajectory_controller")
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# Declare all parameters
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self.declare_parameter("controller_name", "joint_trajectory_controller")
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self.declare_parameter("wait_sec_between_publish", 6)
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self.declare_parameter("goal_names", ["pos1", "pos2"])
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self.declare_parameter("joints", [""])
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self.declare_parameter("check_starting_point", False)
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self.declare_parameter("starting_point_limits", False)
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# Read parameters
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controller_name = self.get_parameter("controller_name").value
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wait_sec_between_publish = self.get_parameter("wait_sec_between_publish").value
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goal_names = self.get_parameter("goal_names").value
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self.joints = self.get_parameter("joints").value
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self.check_starting_point = self.get_parameter("check_starting_point").value
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self.starting_point = {}
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if self.joints is None or len(self.joints) == 0:
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raise Exception('"joints" parameter is not set!')
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# starting point stuff
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if self.check_starting_point:
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# declare nested params
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for name in self.joints:
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param_name_tmp = "starting_point_limits" + "." + name
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self.declare_parameter(param_name_tmp, [-2 * 3.14159, 2 * 3.14159])
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self.starting_point[name] = self.get_parameter(param_name_tmp).value
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for name in self.joints:
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if len(self.starting_point[name]) != 2:
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raise Exception('"starting_point" parameter is not set correctly!')
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self.joint_state_sub = self.create_subscription(
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JointState, "joint_states", self.joint_state_callback, 10
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)
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# initialize starting point status
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self.starting_point_ok = not self.check_starting_point
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self.joint_state_msg_received = False
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# Read all positions from parameters
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self.goals = []
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for name in goal_names:
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self.declare_parameter(
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name, descriptor=ParameterDescriptor(dynamic_typing=True)
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)
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goal = self.get_parameter(name).value
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if goal is None or len(goal) == 0:
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raise Exception(f'Values for goal "{name}" not set!')
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float_goal = []
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for value in goal:
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float_goal.append(float(value))
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self.goals.append(float_goal)
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publish_topic = "/" + controller_name + "/" + "joint_trajectory"
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self.get_logger().info(
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'Publishing {} goals on topic "{}" every {} s'.format(
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len(goal_names), publish_topic, wait_sec_between_publish
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)
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)
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self.publisher_ = self.create_publisher(JointTrajectory, publish_topic, 1)
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self.timer = self.create_timer(wait_sec_between_publish, self.timer_callback)
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self.i = 0
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def timer_callback(self):
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if self.starting_point_ok:
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traj = JointTrajectory()
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traj.joint_names = self.joints
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point = JointTrajectoryPoint()
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point.positions = self.goals[self.i]
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point.time_from_start = Duration(sec=1)
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traj.points.append(point)
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self.publisher_.publish(traj)
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self.i += 1
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self.i %= len(self.goals)
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elif self.check_starting_point and not self.joint_state_msg_received:
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self.get_logger().warn(
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'Start configuration could not be checked! Check "joint_state" topic!'
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)
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else:
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self.get_logger().warn(
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"Start configuration is not within configured limits!"
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)
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def joint_state_callback(self, msg):
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if not self.joint_state_msg_received:
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# check start state
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limit_exceeded = [False] * len(msg.name)
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for idx, enum in enumerate(msg.name):
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if (msg.position[idx] < self.starting_point[enum][0]) or (
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msg.position[idx] > self.starting_point[enum][1]
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):
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self.get_logger().warn(
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f"Starting point limits exceeded for joint {enum} !"
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)
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limit_exceeded[idx] = True
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if any(limit_exceeded):
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self.starting_point_ok = False
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else:
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self.starting_point_ok = True
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self.joint_state_msg_received = True
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else:
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return
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def main(args=None):
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rclpy.init(args=args)
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publisher_joint_trajectory = PublisherJointTrajectory()
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rclpy.spin(publisher_joint_trajectory)
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publisher_joint_trajectory.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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+85
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#!/usr/bin/env python3
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"""Example subscriber node demonstrating how to receive and process robot
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states published by the robot_states_publisher node.
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Author: Flexiv Robotics
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License: Apache-2.0
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"""
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import rclpy
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from rclpy.node import Node
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from flexiv_msgs.msg import RobotStates
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import math
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class StateMonitor(Node):
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"""Example ROS2 node that subscribes to robot states and displays key
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information."""
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def __init__(self):
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super().__init__("state_monitor")
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# Declare a parameter for the robot serial number
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self.declare_parameter("robot_sn", "Rizon4-000000")
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robot_sn = self.get_parameter("robot_sn").get_parameter_value().string_value
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# Construct topic name dynamically based on robot SN
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# ROS topic names can't contain dashes, so replace with underscores
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topic_robot_sn = robot_sn.replace("-", "_")
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topic_name = f"/{topic_robot_sn}/flexiv_robot_states"
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self.get_logger().info(f"State Monitor started")
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self.get_logger().info(f"Subscribing to topic: {topic_name}")
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# Create subscription
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self.subscription = self.create_subscription(
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RobotStates, topic_name, self.callback, 10
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)
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def callback(self, msg):
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"""Callback function that processes received robot states.
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Args:
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msg: RobotStates message containing complete robot state information
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"""
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# Access joint positions (7 joints)
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self.get_logger().info(f'Joint positions: {[f"{j:.3f}" for j in msg.q]}')
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# Access TCP position
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tcp = msg.tcp_pose.pose.position
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self.get_logger().info(
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f"TCP Position: x={tcp.x:.3f}, y={tcp.y:.3f}, z={tcp.z:.3f}"
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)
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# Access TCP orientation (quaternion)
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tcp_ori = msg.tcp_pose.pose.orientation
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self.get_logger().info(
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f"TCP Orientation: w={tcp_ori.w:.3f}, x={tcp_ori.x:.3f}, "
|
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f"y={tcp_ori.y:.3f}, z={tcp_ori.z:.3f}"
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)
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# Access external force magnitude
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force = msg.ext_wrench_in_tcp.wrench.force
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force_mag = math.sqrt(force.x**2 + force.y**2 + force.z**2)
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self.get_logger().info(f"External Force Magnitude: {force_mag:.3f} N")
|
||||
|
||||
self.get_logger().info("---")
|
||||
|
||||
|
||||
def main(args=None):
|
||||
"""Main entry point for the State Monitor example node."""
|
||||
rclpy.init(args=args)
|
||||
|
||||
try:
|
||||
node = StateMonitor()
|
||||
rclpy.spin(node)
|
||||
except KeyboardInterrupt:
|
||||
print("\nKeyboard interrupt, shutting down...")
|
||||
finally:
|
||||
if "node" in locals():
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
+304
@@ -0,0 +1,304 @@
|
||||
#!/usr/bin/env python3
|
||||
"""This node reads robot states from Flexiv RDK and publishes them as ROS2
|
||||
messages (flexiv_msgs/msg/RobotStates).
|
||||
|
||||
Author: Flexiv Robotics
|
||||
License: Apache-2.0
|
||||
"""
|
||||
|
||||
import rclpy
|
||||
from rclpy.node import Node
|
||||
from rclpy.qos import QoSProfile, ReliabilityPolicy, HistoryPolicy
|
||||
import flexivrdk
|
||||
import sys
|
||||
import argparse
|
||||
|
||||
# Import ROS2 message types
|
||||
from flexiv_msgs.msg import RobotStates
|
||||
from geometry_msgs.msg import PoseStamped, AccelStamped, WrenchStamped
|
||||
|
||||
|
||||
class RobotStatesPublisher(Node):
|
||||
"""ROS2 node that publishes Flexiv robot states from RDK to ROS2 topics."""
|
||||
|
||||
def __init__(self, robot_sn: str, network_interface: str = ""):
|
||||
super().__init__("rdk_state_publisher")
|
||||
|
||||
# Declare parameters
|
||||
self.declare_parameter("robot_sn", robot_sn)
|
||||
self.declare_parameter("network_interface", network_interface)
|
||||
self.declare_parameter("publish_rate", 100) # Default 100 Hz
|
||||
|
||||
# Get parameters
|
||||
self.robot_sn = self.get_parameter("robot_sn").value
|
||||
self.network_interface = self.get_parameter("network_interface").value
|
||||
self.publish_rate = self.get_parameter("publish_rate").value
|
||||
|
||||
self.get_logger().info(
|
||||
f"Initializing Robot States Publisher for robot {self.robot_sn}"
|
||||
)
|
||||
if self.network_interface:
|
||||
self.get_logger().info(
|
||||
f"Network interface whitelist: [{self.network_interface}]"
|
||||
)
|
||||
else:
|
||||
self.get_logger().info("Using all available network interfaces")
|
||||
self.get_logger().info(f"Publish rate: {self.publish_rate} Hz")
|
||||
|
||||
# Initialize RDK Robot instance
|
||||
try:
|
||||
if self.network_interface:
|
||||
# Use specific network interface
|
||||
self.robot = flexivrdk.Robot(self.robot_sn, [self.network_interface])
|
||||
else:
|
||||
# Use all available network interfaces
|
||||
self.robot = flexivrdk.Robot(self.robot_sn)
|
||||
self.get_logger().info("Successfully connected to robot via RDK")
|
||||
except Exception as e:
|
||||
self.get_logger().error(f"Failed to connect to robot: {str(e)}")
|
||||
raise
|
||||
|
||||
# Setup QoS profile for real-time communication
|
||||
qos_profile = QoSProfile(
|
||||
reliability=ReliabilityPolicy.RELIABLE,
|
||||
history=HistoryPolicy.KEEP_LAST,
|
||||
depth=10,
|
||||
)
|
||||
|
||||
# Create publisher for robot states
|
||||
# Sanitize robot_sn for ROS2 topic name (replace dashes with underscores)
|
||||
topic_name = f'/{self.robot_sn.replace("-", "_")}/flexiv_robot_states'
|
||||
self.state_publisher = self.create_publisher(
|
||||
RobotStates, topic_name, qos_profile
|
||||
)
|
||||
|
||||
# Create timer for periodic publishing
|
||||
timer_period = 1.0 / self.publish_rate
|
||||
self.timer = self.create_timer(timer_period, self.publish_robot_states)
|
||||
|
||||
self.get_logger().info("Robot States Publisher initialized successfully")
|
||||
self.get_logger().info(f"Publishing to: {topic_name}")
|
||||
|
||||
# Log robot operational status
|
||||
self.log_robot_status()
|
||||
|
||||
def log_robot_status(self):
|
||||
"""Log the current robot status from RDK."""
|
||||
try:
|
||||
is_busy = self.robot.busy()
|
||||
is_operational = self.robot.operational()
|
||||
is_fault = self.robot.fault()
|
||||
is_reduced = self.robot.reduced()
|
||||
|
||||
self.get_logger().info("=== Robot Status ===")
|
||||
self.get_logger().info(f"Busy: {is_busy}")
|
||||
self.get_logger().info(f"Operational: {is_operational}")
|
||||
self.get_logger().info(f"Fault: {is_fault}")
|
||||
self.get_logger().info(f"Reduced Mode: {is_reduced}")
|
||||
self.get_logger().info("===================")
|
||||
|
||||
if is_fault:
|
||||
self.get_logger().warn("Robot is in FAULT state!")
|
||||
elif not is_operational:
|
||||
self.get_logger().warn("Robot is NOT operational!")
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(f"Error checking robot status: {str(e)}")
|
||||
|
||||
def create_pose_stamped(self, pose_data, frame_id="world"):
|
||||
"""Convert RDK pose data [x, y, z, q_w, q_x, q_y, q_z] to
|
||||
PoseStamped."""
|
||||
pose_stamped = PoseStamped()
|
||||
pose_stamped.header.stamp = self.get_clock().now().to_msg()
|
||||
pose_stamped.header.frame_id = frame_id
|
||||
|
||||
pose_stamped.pose.position.x = pose_data[0]
|
||||
pose_stamped.pose.position.y = pose_data[1]
|
||||
pose_stamped.pose.position.z = pose_data[2]
|
||||
|
||||
pose_stamped.pose.orientation.w = pose_data[3]
|
||||
pose_stamped.pose.orientation.x = pose_data[4]
|
||||
pose_stamped.pose.orientation.y = pose_data[5]
|
||||
pose_stamped.pose.orientation.z = pose_data[6]
|
||||
|
||||
return pose_stamped
|
||||
|
||||
def create_accel_stamped(self, vel_data, frame_id="world"):
|
||||
"""
|
||||
Convert RDK velocity data [v_x, v_y, v_z, w_x, w_y, w_z] to AccelStamped
|
||||
Note: Using AccelStamped to hold velocity data as per RobotStates.msg
|
||||
"""
|
||||
accel_stamped = AccelStamped()
|
||||
accel_stamped.header.stamp = self.get_clock().now().to_msg()
|
||||
accel_stamped.header.frame_id = frame_id
|
||||
|
||||
# Linear velocity
|
||||
accel_stamped.accel.linear.x = vel_data[0]
|
||||
accel_stamped.accel.linear.y = vel_data[1]
|
||||
accel_stamped.accel.linear.z = vel_data[2]
|
||||
|
||||
# Angular velocity
|
||||
accel_stamped.accel.angular.x = vel_data[3]
|
||||
accel_stamped.accel.angular.y = vel_data[4]
|
||||
accel_stamped.accel.angular.z = vel_data[5]
|
||||
|
||||
return accel_stamped
|
||||
|
||||
def create_wrench_stamped(self, wrench_data, frame_id):
|
||||
"""Convert RDK wrench data [f_x, f_y, f_z, m_x, m_y, m_z] to
|
||||
WrenchStamped."""
|
||||
wrench_stamped = WrenchStamped()
|
||||
wrench_stamped.header.stamp = self.get_clock().now().to_msg()
|
||||
wrench_stamped.header.frame_id = frame_id
|
||||
|
||||
# Force
|
||||
wrench_stamped.wrench.force.x = wrench_data[0]
|
||||
wrench_stamped.wrench.force.y = wrench_data[1]
|
||||
wrench_stamped.wrench.force.z = wrench_data[2]
|
||||
|
||||
# Torque/Moment
|
||||
wrench_stamped.wrench.torque.x = wrench_data[3]
|
||||
wrench_stamped.wrench.torque.y = wrench_data[4]
|
||||
wrench_stamped.wrench.torque.z = wrench_data[5]
|
||||
|
||||
return wrench_stamped
|
||||
|
||||
def publish_robot_states(self):
|
||||
"""Main callback function to read robot states and publish as ROS2
|
||||
message."""
|
||||
try:
|
||||
# Get robot states from RDK
|
||||
robot_states = self.robot.states()
|
||||
|
||||
# Create ROS2 RobotStates message
|
||||
msg = RobotStates()
|
||||
|
||||
# Populate header
|
||||
msg.header.stamp = self.get_clock().now().to_msg()
|
||||
msg.header.frame_id = "world"
|
||||
|
||||
# Robot timestamp
|
||||
msg.robot_timestamp.sec = robot_states.timestamp[0]
|
||||
msg.robot_timestamp.nanosec = robot_states.timestamp[1]
|
||||
|
||||
# Joint-space states (all arrays are size 7 for Flexiv robots)
|
||||
msg.q = list(robot_states.q) # Joint positions (link-side)
|
||||
msg.theta = list(robot_states.theta) # Joint positions (motor-side)
|
||||
msg.dq = list(robot_states.dq) # Joint velocities (link-side)
|
||||
msg.dtheta = list(robot_states.dtheta) # Joint velocities (motor-side)
|
||||
msg.tau = list(robot_states.tau) # Joint torques
|
||||
msg.tau_des = list(robot_states.tau_des) # Desired joint torques
|
||||
msg.tau_dot = list(robot_states.tau_dot) # Joint torque derivatives
|
||||
msg.tau_ext = list(robot_states.tau_ext) # External joint torques
|
||||
msg.tau_interact = list(
|
||||
robot_states.tau_interact
|
||||
) # Interaction joint torques
|
||||
msg.temperature = list(robot_states.temperature) # Joint temperatures
|
||||
|
||||
# Cartesian-space states using geometry_msgs
|
||||
# TCP pose: [x, y, z, q_w, q_x, q_y, q_z]
|
||||
msg.tcp_pose = self.create_pose_stamped(robot_states.tcp_pose, "world")
|
||||
|
||||
# TCP velocity: [v_x, v_y, v_z, w_x, w_y, w_z]
|
||||
msg.tcp_vel = self.create_accel_stamped(robot_states.tcp_vel, "world")
|
||||
|
||||
# Flange pose: [x, y, z, q_w, q_x, q_y, q_z]
|
||||
msg.flange_pose = self.create_pose_stamped(
|
||||
robot_states.flange_pose, "world"
|
||||
)
|
||||
|
||||
# Force-torque sensor reading: [f_x, f_y, f_z, m_x, m_y, m_z]
|
||||
msg.ft_sensor_raw = self.create_wrench_stamped(
|
||||
robot_states.ft_sensor_raw, "flange"
|
||||
)
|
||||
|
||||
# External wrench in TCP frame: [f_x, f_y, f_z, m_x, m_y, m_z]
|
||||
msg.ext_wrench_in_tcp = self.create_wrench_stamped(
|
||||
robot_states.ext_wrench_in_tcp, "flange"
|
||||
)
|
||||
|
||||
# External wrench in world frame: [f_x, f_y, f_z, m_x, m_y, m_z]
|
||||
msg.ext_wrench_in_world = self.create_wrench_stamped(
|
||||
robot_states.ext_wrench_in_world, "world"
|
||||
)
|
||||
|
||||
# External wrench in TCP frame (raw): [f_x, f_y, f_z, m_x, m_y, m_z]
|
||||
msg.ext_wrench_in_tcp_raw = self.create_wrench_stamped(
|
||||
robot_states.ext_wrench_in_tcp_raw, "flange"
|
||||
)
|
||||
|
||||
# External wrench in world frame (raw): [f_x, f_y, f_z, m_x, m_y, m_z]
|
||||
msg.ext_wrench_in_world_raw = self.create_wrench_stamped(
|
||||
robot_states.ext_wrench_in_world_raw, "world"
|
||||
)
|
||||
|
||||
# Publish the message
|
||||
self.state_publisher.publish(msg)
|
||||
|
||||
except Exception as e:
|
||||
self.get_logger().error(
|
||||
f"Error publishing robot states: {str(e)}", throttle_duration_sec=1.0
|
||||
)
|
||||
|
||||
def destroy_node(self):
|
||||
"""Clean shutdown of the node."""
|
||||
self.get_logger().info("Shutting down Robot States Publisher...")
|
||||
try:
|
||||
# Stop the robot safely if needed
|
||||
if hasattr(self, "robot"):
|
||||
self.get_logger().info("Disconnecting from robot...")
|
||||
except Exception as e:
|
||||
self.get_logger().error(f"Error during shutdown: {str(e)}")
|
||||
finally:
|
||||
super().destroy_node()
|
||||
|
||||
|
||||
def main(args=None):
|
||||
"""Main entry point for the Robot States Publisher node."""
|
||||
# Parse command line arguments
|
||||
parser = argparse.ArgumentParser(description="Flexiv Robot States Publisher Node")
|
||||
parser.add_argument(
|
||||
"--robot-sn",
|
||||
type=str,
|
||||
required=True,
|
||||
help="Robot serial number (e.g., Rizon4s-123456)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--network-interface",
|
||||
type=str,
|
||||
default="",
|
||||
help="Network interface name (e.g., eth0, enp0s31f6). Leave empty to use all interfaces.",
|
||||
)
|
||||
|
||||
# Parse known args (ROS2 args are handled separately)
|
||||
parsed_args, unknown = parser.parse_known_args()
|
||||
|
||||
# Initialize ROS2
|
||||
rclpy.init(args=args)
|
||||
|
||||
try:
|
||||
# Create and spin the node
|
||||
node = RobotStatesPublisher(
|
||||
robot_sn=parsed_args.robot_sn,
|
||||
network_interface=parsed_args.network_interface,
|
||||
)
|
||||
|
||||
# Spin the node
|
||||
rclpy.spin(node)
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\nKeyboard interrupt, shutting down...")
|
||||
except Exception as e:
|
||||
print(f"Error: {str(e)}")
|
||||
return 1
|
||||
finally:
|
||||
# Cleanup
|
||||
if "node" in locals():
|
||||
node.destroy_node()
|
||||
rclpy.shutdown()
|
||||
|
||||
return 0
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
@@ -0,0 +1 @@
|
||||
rclpy:std_msgs
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;AMENT_PREFIX_PATH;
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value AMENT_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value AMENT_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
|
||||
@@ -0,0 +1 @@
|
||||
prepend-non-duplicate;PYTHONPATH;lib/python3.11/site-packages
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
|
||||
|
||||
colcon_prepend_unique_value PYTHONPATH "$env:COLCON_CURRENT_PREFIX/lib/python3.11/site-packages"
|
||||
@@ -0,0 +1,3 @@
|
||||
# generated from colcon_core/shell/template/hook_prepend_value.sh.em
|
||||
|
||||
_colcon_prepend_unique_value PYTHONPATH "$COLCON_CURRENT_PREFIX/lib/python3.11/site-packages"
|
||||
+76
@@ -0,0 +1,76 @@
|
||||
"""Launch file for Robot States Publisher Node.
|
||||
|
||||
Example usage:
|
||||
# Auto-detect network interface:
|
||||
ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \
|
||||
robot_sn:=Rizon4s-123456
|
||||
|
||||
# With specific network interface:
|
||||
ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \
|
||||
robot_sn:=Rizon4s-123456 \
|
||||
network_interface:=eth0
|
||||
|
||||
# Custom publish rate:
|
||||
ros2 launch flexiv_test_nodes robot_states_publisher.launch.py \
|
||||
robot_sn:=Rizon4s-123456 \
|
||||
publish_rate:=200
|
||||
|
||||
Author: Flexiv Robotics
|
||||
License: Apache-2.0
|
||||
"""
|
||||
|
||||
from launch import LaunchDescription
|
||||
from launch.actions import DeclareLaunchArgument
|
||||
from launch.substitutions import LaunchConfiguration
|
||||
from launch_ros.actions import Node
|
||||
|
||||
|
||||
def generate_launch_description():
|
||||
"""Generate launch description for Robot States Publisher."""
|
||||
|
||||
# Declare launch arguments
|
||||
robot_sn_arg = DeclareLaunchArgument(
|
||||
"robot_sn", description="Robot serial number (e.g., Rizon4s-123456)"
|
||||
)
|
||||
|
||||
network_interface_arg = DeclareLaunchArgument(
|
||||
"network_interface",
|
||||
default_value="",
|
||||
description="Network interface name (e.g., eth0, enp0s31f6). Leave empty to auto-detect.",
|
||||
)
|
||||
|
||||
publish_rate_arg = DeclareLaunchArgument(
|
||||
"publish_rate",
|
||||
default_value="100",
|
||||
description="Publishing rate in Hz (default: 100)",
|
||||
)
|
||||
|
||||
# Create the Robot States Publisher node
|
||||
robot_states_publisher_node = Node(
|
||||
package="flexiv_test_nodes",
|
||||
executable="robot_states_publisher",
|
||||
name="robot_states_publisher",
|
||||
output="screen",
|
||||
parameters=[
|
||||
{
|
||||
"robot_sn": LaunchConfiguration("robot_sn"),
|
||||
"network_interface": LaunchConfiguration("network_interface"),
|
||||
"publish_rate": LaunchConfiguration("publish_rate"),
|
||||
}
|
||||
],
|
||||
arguments=[
|
||||
"--robot-sn",
|
||||
LaunchConfiguration("robot_sn"),
|
||||
"--network-interface",
|
||||
LaunchConfiguration("network_interface"),
|
||||
],
|
||||
)
|
||||
|
||||
return LaunchDescription(
|
||||
[
|
||||
robot_sn_arg,
|
||||
network_interface_arg,
|
||||
publish_rate_arg,
|
||||
robot_states_publisher_node,
|
||||
]
|
||||
)
|
||||
@@ -0,0 +1,31 @@
|
||||
# generated from colcon_bash/shell/template/package.bash.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a bash script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_bash_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/package.sh"
|
||||
|
||||
unset _colcon_package_bash_source_script
|
||||
unset _colcon_package_bash_COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,6 @@
|
||||
source;share/flexiv_test_nodes/hook/pythonpath.ps1
|
||||
source;share/flexiv_test_nodes/hook/pythonpath.dsv
|
||||
source;share/flexiv_test_nodes/hook/pythonpath.sh
|
||||
source;share/flexiv_test_nodes/hook/ament_prefix_path.ps1
|
||||
source;share/flexiv_test_nodes/hook/ament_prefix_path.dsv
|
||||
source;share/flexiv_test_nodes/hook/ament_prefix_path.sh
|
||||
@@ -0,0 +1,117 @@
|
||||
# generated from colcon_powershell/shell/template/package.ps1.em
|
||||
|
||||
# function to append a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as leading separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_append_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
$_duplicate=""
|
||||
# start with no values
|
||||
$_all_values=""
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(":") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -eq $_value) {
|
||||
$_duplicate="1"
|
||||
}
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values}:$_"
|
||||
} else {
|
||||
$_all_values="$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# append only non-duplicates
|
||||
if (!$_duplicate) {
|
||||
# avoid leading separator
|
||||
if ($_all_values) {
|
||||
$_all_values="${_all_values}:${_value}"
|
||||
} else {
|
||||
$_all_values="${_value}"
|
||||
}
|
||||
}
|
||||
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
function colcon_prepend_unique_value {
|
||||
param (
|
||||
$_listname,
|
||||
$_value
|
||||
)
|
||||
|
||||
# get values from variable
|
||||
if (Test-Path Env:$_listname) {
|
||||
$_values=(Get-Item env:$_listname).Value
|
||||
} else {
|
||||
$_values=""
|
||||
}
|
||||
# start with the new value
|
||||
$_all_values="$_value"
|
||||
# iterate over existing values in the variable
|
||||
if ($_values) {
|
||||
$_values.Split(":") | ForEach {
|
||||
# not an empty string
|
||||
if ($_) {
|
||||
# not a duplicate of _value
|
||||
if ($_ -ne $_value) {
|
||||
# keep non-duplicate values
|
||||
$_all_values="${_all_values}:$_"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
# export the updated variable
|
||||
Set-Item env:\$_listname -Value "$_all_values"
|
||||
}
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
function colcon_package_source_powershell_script {
|
||||
param (
|
||||
$_colcon_package_source_powershell_script
|
||||
)
|
||||
# source script with conditional trace output
|
||||
if (Test-Path $_colcon_package_source_powershell_script) {
|
||||
if ($env:COLCON_TRACE) {
|
||||
echo ". '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
. "$_colcon_package_source_powershell_script"
|
||||
} else {
|
||||
Write-Error "not found: '$_colcon_package_source_powershell_script'"
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
# a powershell script is able to determine its own path
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
|
||||
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/pythonpath.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/ament_prefix_path.ps1"
|
||||
colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/../../build/flexiv_test_nodes/share/flexiv_test_nodes/hook/pythonpath_develop.ps1"
|
||||
|
||||
Remove-Item Env:\COLCON_CURRENT_PREFIX
|
||||
@@ -0,0 +1,87 @@
|
||||
# generated from colcon_core/shell/template/package.sh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# function to prepend a value to a variable
|
||||
# which uses colons as separators
|
||||
# duplicates as well as trailing separators are avoided
|
||||
# first argument: the name of the result variable
|
||||
# second argument: the value to be prepended
|
||||
_colcon_prepend_unique_value() {
|
||||
# arguments
|
||||
_listname="$1"
|
||||
_value="$2"
|
||||
|
||||
# get values from variable
|
||||
eval _values=\"\$$_listname\"
|
||||
# backup the field separator
|
||||
_colcon_prepend_unique_value_IFS=$IFS
|
||||
IFS=":"
|
||||
# start with the new value
|
||||
_all_values="$_value"
|
||||
# workaround SH_WORD_SPLIT not being set in zsh
|
||||
if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
|
||||
colcon_zsh_convert_to_array _values
|
||||
fi
|
||||
# iterate over existing values in the variable
|
||||
for _item in $_values; do
|
||||
# ignore empty strings
|
||||
if [ -z "$_item" ]; then
|
||||
continue
|
||||
fi
|
||||
# ignore duplicates of _value
|
||||
if [ "$_item" = "$_value" ]; then
|
||||
continue
|
||||
fi
|
||||
# keep non-duplicate values
|
||||
_all_values="$_all_values:$_item"
|
||||
done
|
||||
unset _item
|
||||
# restore the field separator
|
||||
IFS=$_colcon_prepend_unique_value_IFS
|
||||
unset _colcon_prepend_unique_value_IFS
|
||||
# export the updated variable
|
||||
eval export $_listname=\"$_all_values\"
|
||||
unset _all_values
|
||||
unset _values
|
||||
|
||||
unset _value
|
||||
unset _listname
|
||||
}
|
||||
|
||||
# since a plain shell script can't determine its own path when being sourced
|
||||
# either use the provided COLCON_CURRENT_PREFIX
|
||||
# or fall back to the build time prefix (if it exists)
|
||||
_colcon_package_sh_COLCON_CURRENT_PREFIX="/home/cc/ros2/install/flexiv_test_nodes"
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
|
||||
echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
return 1
|
||||
fi
|
||||
COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
unset _colcon_package_sh_COLCON_CURRENT_PREFIX
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_sh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# source sh hooks
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/pythonpath.sh"
|
||||
_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/hook/ament_prefix_path.sh"
|
||||
|
||||
unset _colcon_package_sh_source_script
|
||||
unset COLCON_CURRENT_PREFIX
|
||||
|
||||
# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
|
||||
@@ -0,0 +1,18 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>flexiv_test_nodes</name>
|
||||
<version>1.9.1</version>
|
||||
<description>Demo nodes for testing flexiv_ros2</description>
|
||||
<maintainer email="munseng.phoon@flexiv.com">Mun Seng Phoon</maintainer>
|
||||
<license>Apache-2.0</license>
|
||||
<author email="munseng.phoon@flexiv.com">Mun Seng Phoon</author>
|
||||
|
||||
<depend>rclpy</depend>
|
||||
<depend>std_msgs</depend>
|
||||
<test_depend>python3-pytest</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_python</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -0,0 +1,42 @@
|
||||
# generated from colcon_zsh/shell/template/package.zsh.em
|
||||
|
||||
# This script extends the environment for this package.
|
||||
|
||||
# a zsh script is able to determine its own path if necessary
|
||||
if [ -z "$COLCON_CURRENT_PREFIX" ]; then
|
||||
# the prefix is two levels up from the package specific share directory
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
|
||||
else
|
||||
_colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
|
||||
fi
|
||||
|
||||
# function to source another script with conditional trace output
|
||||
# first argument: the path of the script
|
||||
# additional arguments: arguments to the script
|
||||
_colcon_package_zsh_source_script() {
|
||||
if [ -f "$1" ]; then
|
||||
if [ -n "$COLCON_TRACE" ]; then
|
||||
echo "# . \"$1\""
|
||||
fi
|
||||
. "$@"
|
||||
else
|
||||
echo "not found: \"$1\"" 1>&2
|
||||
fi
|
||||
}
|
||||
|
||||
# function to convert array-like strings into arrays
|
||||
# to workaround SH_WORD_SPLIT not being set
|
||||
colcon_zsh_convert_to_array() {
|
||||
local _listname=$1
|
||||
local _dollar="$"
|
||||
local _split="{="
|
||||
local _to_array="(\"$_dollar$_split$_listname}\")"
|
||||
eval $_listname=$_to_array
|
||||
}
|
||||
|
||||
# source sh script of this package
|
||||
_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/flexiv_test_nodes/package.sh"
|
||||
unset convert_zsh_to_array
|
||||
|
||||
unset _colcon_package_zsh_source_script
|
||||
unset _colcon_package_zsh_COLCON_CURRENT_PREFIX
|
||||
Reference in New Issue
Block a user